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grade-rr's Issues

Occupancy Map dimensions are (0, 0, 0) in `environment_utils.py` (`generate_map()`)

In the environment_utils.py script's generate_map() function, the dimensions returned from the occupancy map _om are (0, 0, 0), which is giving me the following error:

Traceback (most recent call last):
  File "GRADE-RR-2022/simulator/paper_simulation.py", line 293, in <module>
    environment.generate_map(out_dir, origin=[x[0], y[0], 0])
  File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/GRADE-RR-2022/simulator/utils/environment_utils.py", line 88, in generate_map
    _im = Image.frombytes("RGBA", (dims.x, dims.y), bytes(image_buffer))
  File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py", line 2882, in frombytes
    im.frombytes(data, decoder_name, args)
  File "/home/lyndon.chan/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.pip_archive/pip_prebundle/PIL/Image.py", line 811, in frombytes
    d.setimage(self.im)
ValueError: tile cannot extend outside image

It seems like the occupancy map is not being properly initialized, so the code fails after this. How can I fix this?

Thanks,
Lyndon

"multi_robot_sim" tutorial, custom_joint_controller_ros_irotate problem

Hi, I'm trying to run the "multi_robot_sim" sample. But i suffer the below error.

Traceback (most recent call last):
  File "/home/rvi/Desktop/isaac_2021/isaac_sim-2021.2.1/GRADE-RR/simulator/multi_robot_sim.py", line 212, in <module>
    launch_files = ros_launchers_setup(roslaunch, environment.env_limits_shifted, config)
  File "/home/rvi/Desktop/isaac_2021/isaac_sim-2021.2.1/GRADE-RR/simulator/utils/robot_utils.py", line 330, in ros_launchers_setup
    roslaunch_files.append(roslaunch.rlutil.resolve_launch_arguments(cli_args1)[0])
  File "/opt/ros/noetic/lib/python3/dist-packages/roslaunch/rlutil.py", line 105, in resolve_launch_arguments
    raise roslaunch.core.RLException("[%s] is neither a launch file in package [%s] nor is [%s] a launch file name" % (args[1], args[0], args[0]))
roslaunch.core.RLException: [publish_joint_commands_node.launch] is neither a launch file in package [custom_joint_controller_ros_irotate] nor is [custom_joint_controller_ros_irotate] a launch file name

It looks like I don't have the package "custom_joint_controller_ros_irotate" in my local pc.
But I followed the installation process in SAMPLES.md (Paper(ros) simulation) and also installed the dependencies. So i have the package "custom_joint_controller_ros" not "custom_joint_controller_ros_irotate". And then i change the code to custom_joint_controller_ros, and the error disappeared.

But I think that it was a stopgap, not an exact solution.

So,
How can I install custom_joint_contrller_ros_irotate in function (ros_laucnhers_setup) in robot_utils.py? Or is it okay to change to custom_joint_controller_ros?

Loading USD environment from "3DFRONT/USD-exports" (`env_path`)

Hello,

I am trying to follow the documentation to run paper_simulation.py but the script is attempting to load a USD environment from "3DFRONT/USD-exports" (the env_path variable defined inside simulator/configs/config.yaml). Your repo makes no mention of any USD file input, so how am I supposed to proceed?

Thanks,
Lyndon

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